Yongxin Ma

ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map

Visual-inertial odometry (VIO) can estimate robot poses at high frequencies but suffers from accumulated drift over time. Incorporating point cloud maps offers a promising solution, yet existing registration methods between vision and point clouds are limited by heterogeneous feature alignment, leav

ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map

A Lightweight Powered Knee Prosthesis Replicating Early-Stance Knee Flexion During Level Walking

Powered knee prostheses promise to improve the mobility of transfemoral amputees by imitating the biomechanics of the missing knee joint. Unfortunately, the heavy weight and short battery life severely limit the application of powered prostheses. Here, we present a lightweight powered knee prosthesi